SYMBIO-TIC Project. Lihui Wang Project Coordinator Professor, Chair of Sustainable Manufacturing KTH, Stockholm, Sweden

Transcription

1 An Introduction to SYMBIO-TIC Project Lihui Wang Project Coordinator Professor, Chair of Sustainable Manufacturing KTH, Stockholm, Sweden

2 Unique Consortium Participant No * Participant organisation name Country 1 (Coordinator) Royal Institute of Technology (KTH) Sweden 2 Hungarian Academy of Sciences (MTA) Hungary 3 University of Patras (LMS) Greece 4 PROFACTOR GmbH (PRO) Austria 5 University of Skövde (HIS) Sweden 6 VTT Technical Research Centre (VTT) Finland 7 Fraunhofer IPA (IPA) Germany 8 Volvo Car Corporation (VCC) Sweden 9 PRODINTEC (PRD) Spain 10 SANXO-Systems Kft (SAN) Hungary 11 ABB AB (ABB) Sweden 12 Amorph Systems GmbH (AMS) Germany 13 IDEKO, S. COOP. (IDK) Spain 14 robomotion GmbH (ROB) Germany 15 ACITURRI Engineering S.L.U. (ACI) Spain 15 partners, 7 EU member states, across Europe, 5 SME partners, with previous collaboration, good dynamics and synergy KTH Sustainable Manufacturing Lihui Wang 2

3 Project-Specific Objectives Objective 1: To develop an active collision avoidance subsystem to safeguard human workers Objective 2: To generate adaptive task plans appropriate to both robots and human workers Objective 3: To adapt to dynamic changes with intuitive and multimodal programming Objective 4: To provide human workers with in-situ assistance on what-to-do and how-to-do Objective 5: To demonstrate and validate the project concept and solutions KTH Sustainable Manufacturing Lihui Wang 3

4 WP4 Mobile Worker Assistance Planning and Control Cockpit WP2 Symbiotic Human-Robot Collaborative Assembly Demo type: 1 st demo 2 nd demo 3 rd demo IEC function blocks compliant Smart algorithms encapsulation Adaptation via event-driven behaviours Zero robot programming to end users Multimodal programming in real-time WP3 Adaptive Robot Control Human-Robot Collaboration Intuitive support Portal for end users Dynamic task planning/re-planning Supervisory control Real-World Demonstrators WP5 Location-aware Task-specific Multimodal In-situ assistance Decision support SYMBIO-TIC Safe Environment Active Collision Avoidance WP1 3D models of structured environment Point-cloud images of human workers Data type: Auditory Visual Haptic WP6 WP7 WP8 Dissemination Exploitation and Standardisation Project Management KTH Sustainable Manufacturing Lihui Wang 4

5 Safety Solutions Function Blocks Evaluation Reports Control Integration Documentation and Final Reporting Logical Relationship between WPs WP1 Active Collision Avoidance WP3 Adaptive Robot Control Test-bed Safety Policy Multimodal Data WP5 WP2 WP4 Real-World Demonstrators Planning and Control Cockpit Mobile Worker Assistance Software Tool Programming-free Tool Support Suite Technology Platform Report WP6 Dissemination WP7 Exploitation and Standardisation WP8 Project Management Phase 1 Phase 2 Phase 3 Phase 4 Key enabling technology Technical interaction Managerial interaction Human-robot interaction Clear logical relationship between WPs and clear definition of input/output among WPs KTH Sustainable Manufacturing Lihui Wang 5

6 Clear Roles of Partners Project Management of SYMBIO-TIC Dissemination and IPR Management Active Collision Avoidance Planning and Control Cockpit WP Leader, Coordinator WP Leader LMS KTH VTT IPA AMS PRD WP Leader ROB ACI Adaptive Robot Control WP Leader HIS MTA PRO ABB IDK Mobile Worker Assistance WP Leader WP Leader SAN WP Leader VCC Demonstration of SYMBIO-TIC Exploitation and Standardisation Value Chain Academic Organisations Tech Suppliers System Developers Robot Supplier System Integrator End-Users Clear definition of partners roles in the consortium along the complete value chain KTH Sustainable Manufacturing Lihui Wang 6

7 WP1: Active Collision Avoidance WP2: Planning & Control Cockpit WP3: Active Robot Control WP4: Mobile Worker Assistance WP5: Real-World Demonstrators WP6: Dissemination WP7: Exploitation & Standardisation Project Management Structure General Assembly Representatives from all partners Executive Board WP Leaders + Coordinator Project Coordinator Support Team (daily tasks) European Commission KTH WP8: Project Management KTH Sustainable Manufacturing Lihui Wang 7

8 Trust Communication Strategy High Effective Communication Synergistic (Win/Win) Respective (Compromise) Low Low Defensive (Win/Lose or Lose/Win) Cooperation High KTH Sustainable Manufacturing Lihui Wang 8

9 Active Collision Avoidance Dual-camera for positioning Human-robot co-existing environment Monitoring robot via a 3D model Making decision / taking action Acquiring depth images of operator Collecting current robot position Calculating relative distance Detecting operator s position KTH Sustainable Manufacturing Lihui Wang 9

10 Dynamic Assembly Planning Feature based Design System Factory-Level Product Data Planning & Control Cockpit Assembly Features DB/KB Assembly Features Resource Capability Tool and endeffector Function Function Function Block Block Blocks Dynamic Routing Controller/PDA-Level Operation Planning Control/Monitoring Dynamic assembly processes Assembly Strategy KTH Sustainable Manufacturing Lihui Wang 10

11 Adaptive Robot Control KTH Sustainable Manufacturing Lihui Wang 11

12 Mobile Worker Assistance 1 INI ALG_INI Done ECC: Execution Control Chart Initialise START 1 Generate RUN ALG_RUN Ready Initialise Generate ECC Done Ready 1 1 Monitor Deliver SEND ALG_SEND Displayed Deliver Monitor Pin Inserting Displayed MON ALG_MON Task ID Location Media type Internal Algorithm ALG_INI ALG_RUN ALG_SEND ALG_MON Internal Variables b Default Instructions Options a b a c 1. Move the pin above the hole 2. Align the axes of pin to hole 3. Move pin down and insert 4. Check the length of insertion c Task ID = 5 Current location KTH Sustainable Manufacturing Lihui Wang 12

13 Three Demonstrators Common Test-bed Test-bed integration and safety assurance Technology Demonstration Demonstrator 1 (simple) Food packaging in robotreluctant industry Demonstrator 2 (medium) Aeronautic assembly in robot-reluctant sector Demonstrator 3 (complex) Automotive assembly in robot-reluctant process Domain-Specific Demonstrations Benchmarking Analysis of human-factors and cost-benefit across domains Benchmarking KTH Sustainable Manufacturing Lihui Wang 13

14 Human-Robot Collaboration Part to be assembled Monitored area Operator s hand tracked by the system Collaboration modes can be specified by operator s voice commands Monitored distance The capability of the system to track the operator s position allows controlling the robot to follow the operator Following Robot s endeffector follows the operator s hand Parts of the scene considered as background KTH Sustainable Manufacturing Lihui Wang 14

15 Technologies Innovations Competitiveness KTH Sustainable Manufacturing Lihui Wang 15